Magnetic grapple can loading machine



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MAGNETIC GRAPPLE CAN LOADING MACHINE Filed June 2'7, 1945 16 Sheets-Sheet l3 Sept. 1952 J. BULLIET 2,609,133

MAGNETIC GRAPPLE CAN LOADING MACHINE Filed June 2'7, 1945 16 Shegts-Sheet 14 IN VEN TOR.

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MAGNETIC GRAPPLE CAN LOADING MACHINE Filed June 2'7, 1945 16 Sheets-Sheet 16 cycLE amp r 57 LSCRL nsr nsu m Patented Sept. 2, 1952 MAGNETIC GRAPPLE CAN LOADING MACHINE Leander Jackson Bulliet, Rockford, Ill., assignor to Odin Corporation, Chicago, 111., a corporation of Illinois Application June 27, 1945, Serial No. 601,899

12 Claims. 1

This invention relates to article handling machines and mechanisms, such for example as machines for effecting the high speed and. accurate handling of metal objects and articles, and concerns particularly certain aspects of the control mechanisms and electrical circuits for such machines, for effecting their actuation and control.

It is an object of the invention to provide a machine of the typedefined of improved construction and improved operating characteristics. More specifically stated, it is an object of the invention to provide in an. article handling machine having combined gripping and release means, and translating means, various improved control means and features whereby the gripping, release, and translation of the articles may be more rapidly and reliably effected.

A further object of the invention is to provide in a high speed article handling machine or mechanism of the type. defined, various improved control means and features whereby the handling of frangible articles may be effected, without damage, and whereby articles of bulky or dif ficultto handle shape may be readily translated from one given desired station to another, in a.

rapid and expeditious manner.

A still further object of the invention is to provide inan article handling machine of the type defined, for metallic articles or objects, said machine employing magnetic article gripping and release means, and hydraulic article translating means, various improved control mechanisms for the machine, for effecting its actuation and control.

Another object of the invention is to provide in an article handling machine of the type defined, certain improved control mechanisms adaptable for effecting either automatic or manual machine operation, as maybe desired; and wherein the various operatingparts are completely interlocked and checked, at all times and under all conditions of operation, so as to insure their proper cooperation and control.

Still another object of the invention is to provide various improved control mechanisms for can handling machines.

Various other objects, advantages and features of the invention will be apparent from the following specification, when taken in connection with the accompanying drawings, wherein a preferred'embodiment is set forth for purposes of illustration.

In the drawings, wherein like reference numerals refer to like parts throughout: r

, Fig. 1 is a side elevation of a can handling and valve head structure, and associated parts,

taken as indicated by the line 5-5 of Fig. 2;

Fig. 6 is a vertical sectional view of the head on the line 6-6 of Fig. 5;

Fig. 7 is an enlarged vertical sectional detail of the magnet and its support plate and associated parts, taken as indicated by the line 1--"| of Fig. 1;

Fig. 8 is a detail view of one of the limit switches actuated by the head structure;

Fig. 9 is a detail sectional and diagrammatic view of the control valve for the horizontal actuator forming a part of the hydraulic circuits;

Fig. 10 is a detail sectional and diagrammatic view of the control valve for the vertical actuator;

Fig. 11 is an enlarged horizontal sectional view of the gate mechanism and its associated parts,

taken as indicated by the line ll-ll of Fig. 1;'

Fig. 12 is a vertical sectional view of the gate mechanism, along the broken line l2--l2 of that disclosed in the copending application of Gustaf J. Peterson and Clarence J. Smith, Serial No. 591,026, filed April 30, 1945, and entitled Article Handling Machine, to which reference may be made for any detailed construction not herein disclosed. The claims in the presentapplication are directed to certain more specific features of the automatic electricalcontrol circuits particularly in reference to the article basket, and

those phases of the machine incident thereto.

Claims to other phases and mechanisms of the machine are presented in said companion case.

In the drawings the invention has been shown applied to a machine for loading metal cans into retort baskets in connection with the processing of the food contained therein, as the invention in certain of its aspects is particularly adapted for use with machines for handling articles or objects of this general type. It is to be understood, however, that the invention, and various of its features and aspects, may be used in connection with machines for the handling of other types of objects and articles, in the loading, unloading, manufacture, or processing thereof; as well as on other types of machines and mechanisms.

General machine structure and summary of operation Referring more specifically to the drawings, and first'to Figs. 1, 2, 3 and 4, the structure illustrated comprises'a framework 280 formed of a series of rigidly connected pipes or bars, by which the various elements of the machine are supported in operative relationship,

The objects or articles to be handled by the machine, metal food containers or cans 204 in the particular embodiment illustrated, are introduced into the machine by means of a conveyor structure generally indicated by the numeral 206, the particula'rdetails of which form no part of thepresent invention, except in so far as they enter into combination with the other elements of the machine. This conveyor may be associated with and extended from a filling machine (not shown) whereinthe cans are filled with a food product, or other material to be canned or processed.

In the particular embodiment disclosed, the handling machine is employed for loading the filled cans 204 into retort baskets, one such basket in can receiving position being indicated at 208, Figs. 1, 2 and 4, by means of which the cans may be taken to and deposited within steam retorts for processing or cooking of the contained food product. The cans are deposited within the baskets in layers, and after a basket has been filled with a predetermined number of layers, and with a predetermined number of cans in each layer, the loading operation automatically stops, and the loaded basket may be manually removed from the loading position shown in Figs. 1, 2 and 4, and a new basket to be filled inserted into osition. To facilitate the withdrawal and replacement of the baskets, they may be disposed upon suitable dollies or truck as indicated at 2 II), the machine framework 200 being cut away as perhaps best shown in Fig. 4, so that the dolly with the'basket mounted thereon may be rolled into and away from the loading station of the machine.

From the supply conveyor 206 the cans are first delivered under control of a gate mechanism generally indicated by the numeral 2I2 onto a rotatable table 2I4. The gate mechanism counts the cans, and when a predetermined number of cans have been transmitted from the conveyor 206 onto the table 2 I4, a hundred and thirty-eight cans in the particular embodiment disclosed, sufficient for one layer in the retort basket, the gate mechanism automatically closes a gate 2H5, Fig. 2, associated therewith, so that transmission of cans to the table is stopped.

The table 2 I4 is provided with suitable operating mechanism, later to be described, and during the loading of the cans onto the table it is rotated at constant speed so as to aid in arranging the cans in position thereon, so that the requisite number is received. After the desired number of cans has been received onto the table, and the gate 2I6 closed, rotation of the table stops, and a magnet or translating member 2 I8, Fig. 1, is moved downwardly into engagement with the tops of the cans, and current applied to the magnet so as to cause the cans to adhere thereto.

Magnet 2I8, which is circular in form and only slightly smaller than the table and the transverse area of the retort basket, is carried at the lower end of a translatable head structure, enerally indicated by the number 220. The head is horizontally shiftable upon a pair of guide tracks 222 and 224, Fig. 2, carried by the frame of the machine, the head being propelled in its movements by means of a hydraulic cylinder 226 formed integrally with the head. By means of the tracks 222 and 224,.and the hydraulic cylinder 226, the head 220 and the magnet 2I8- carried thereby may be shifted from a position as shown in Figs. 1 and 2, wherein the magnet is the magnet structure. By means of the hydraulic actuator 226 the magnet is then translated into the position shown in Figs. 1 and 2, and the magnet then lowered to deposit the cans into the retort basket, to form a can layer therein. After the cans have been brought into proper position within the basket, the magnetizing current is released from the magnet, and the empty magnet then translated upwardly, horizontally, and then downwardly into engagementwith and to withdraw a new layer of cans from the table 2 I4.

During the movement of the magnet from the table 2 I4 to the retort basket, and return, a new layer of cans has been passing through the gate 2 I6, and formed on the table. The foregoing operations are repeated until the desired number of can layers have been loaded into the basket,

whereupon the loading operations automatically are stopped, as previously indicated. INumerous interlocks and automatic controls are provided,

for insuring the proper sequential operations, and the high speed controlled handling of the cans. These interlocks and controls, forming a part of the present invention, will be later described and set forth.

Table structure The table 2I4, and its drive mechanism, are best illustrated in Figs. 1, 2 and 3. As shown, the lower portion of the frame 298 carries an ele'ctric drive motor 230 and associated reduction gearing 232 arranged to drive a driving sprocket 234 whenever the motor is in operation. 'A' driven sprocket 236 is driven from the sprocket "234 by means of a chain 238, the driven sprocket being secured to and arranged to drive a vertically'dlsposed table drive shaft 240'journalled in" a pair of frame bearings 242 and'244, and'carr'ying'the rotatable table 2l4 at its'i'ipper-er'id. It 'wlll 'be ergized. The energizing circuits for the motor 230 form a part of the electrical control circuits of the machine, and will be later described.

A circular band member 248 is disposed so that it lies very slightly outside of the periphery'oi the rotatable table, the lower portion of the band being substantially in the table plane, so that the band acts as a guide for holding the cans onthe table during the loading operations. This band is supported by means of a series of brackets 250, Figs. 2 and 3, which are in turn supported by suitable angle plates 252 forming a part of the machine frame structure.

Translating head.- structure The head structure 226 is shown in Figs. 1-4, and in greater detail in Figs. 5 and 6.

As best shown in Figs. 5 and 6, the head 220 comprises a casing 254 forming a central crosshead chamber 256 and a pair of oppositely disposed reservoir chambers 256 and 260. The chamber 256 forms a housing for the mechanism which interconnects the vertical hydraulic actuator with the lifting magnet and its support plate later to be described, whereas the reservoir chambers 258 and 260 are suitably interconnected and are adapted to be filled through a suitable filling plug 264 with a quantity of oil which forms the actuating medium for the hydraulic system. The reservoir 260 encloses an oil pump 266 and certain interconnected oil conduits and valves which will later be more particularly described in. reference to the hydraulic diagram, Fig. 13, and its mode of operation. The pump 266 is adapted to be driven by a drive shaft 268 powered from an electric motor 210, whenever the motor is in operation, the motor being superimposed onto the head casing 254, thus forming an integral part of the head structure. The actuating circuits for the motor form a part of the electrical structure of the machine, and will be later described.

The casing 254, together with a cover plate 212, forms a housing for a pair of valves 214 and 216 forming a part of the hydraulic circuits and provided, respectively, for controlling the functioning of the horizontal actuator 226 and the vertical actuator 228.

The details of the vertical actuator are not material to the invention herein claimed, sufiice to say that, as shown in Fig. 13, the actuator comprises a cylinder 228 mounted on the casing 254, within which is operable a piston 296 secured to the upper end of a piston rod 294. This piston rod is secured at its lower end to a cross head 296, Fig. 5, operable within the head casing 254. An oil leakage and air pipe 300 runs longitudinally of the cylinder structure terminating at its lower end, Fig. 6, within the air space of the reservoir chamber 258 and above the normal oil level therein. The pipe 300 communicates atits upper end, Fig. 13, with the cylinder interior above the piston 296. An oil pressure supply pipe 308, Figs. 6 and 13, communicates with the lower end of the actuator cylinder below the piston.

, The cross head 298 is secured to a pair of connecting rods 312 and 3 l4 connected at their lower ends to the magnet support plate 3 I 6.

It will be seen that by reason of the structure and connections provided, as oil under pressure is introduced throughthe pipe 306 into the lower end of the vertical actuator cylinder, the piston 296v will be raised, correspondingly raising the magnet support plate 3l6 and the magnet 2! carried thereby. Air and any oil leaking past the piston is returned to the oil reservoir through the pipe 300. Upon the release of oil pressure from the pressure supply pipe 308, the piston 296 may be returned to the lower end of the vertical actuator cylinder by the action of gravity, the oil being forced from the lower endof the actuator cylinder downwardly throughthe pipe 368, and the replacement air being introduced into the cylinder, above the piston, through the air pipe 300.

The connecting rod 3l4 carries a bracket 3l8 adapted to operate a limit switch 320 when the piston reaches its upper limit of travel. This limit switch forms a part of the electrical control circuits later to be described.

The horizontal actuator and track structures for guiding the head 220 in its horizontal move ments are fully disclosed in said companion Peterson and Smith application. They are herein bestshown in Figs. 2, 5, 6, 8 and 13, and will be briefly described. The lower portion of the casing 254 is secured by means of bolts 322, Fig. 6, to a saddle member 324. This saddle member is provided along its opposite side edges with a pair of cylinder or barrel portions 326 and 328 adapted to receive and slide along the horizontal guide rods or tracks 222 and 224, respectively. As previously indicated, the guide rods or tracks 222 and 224 extend horizontally of the machine at a slight angle, as best shown in Fig. 2. They are rigidly supported at their ends by meansof brackets 335 in a pair of plate bars 336 and 338, Figs. 2, 3 and 4, forming apart of the machine frame structure 200 and disposed at the opposite machine ends.

The saddle member 324 rigidly Supports the elongated horizontal actuator cylinder 226. The

cylinder 226 is operable along a piston rod 346" provided substantially at its midpoint with a piston 356, Figs. 2 and 13, and rigidly secured at its opposite ends to the frame plates 336 and 338 by means of a pair of cap brackets 352 and 354, respectively. Both of these cap brackets may be of the same construction, the cap bracket 354 and its associated connection with the right end of the piston rod being illustrated in Fig. 8. It will be seen that the end of the piston rod is reduced and threaded to receive a securing nut 356 adapted to bear against an intermediate barrier wall 358 formed internally of the cap bracket. A closure plate 366 secured to the bracket by cap screws 362 forms a chamber in the bracket within which is located an electric limit switch 364 having a plunger 366 adapted to be operated by the end of the cylinder as the head 220 reaches the limit of its movement to the right as seen in Figs. 1 and 2, wherein the magnet is located over the retort basket. A similar limit switch is provided within the cap bracket 352, operated as the horizontal actuating cylinder reaches its extreme leftward movement to bring the magnet over the rotating table 2l4.

As best shown in Figs. 6 and 13, it will be seen I that oil is supplied to and withdrawn from the actuator cylinder 226, as it is operated in opposite directions, by means of a pair of pipes 368 and- 310 communicating, respectively, with opposite ends of the cylinder bore. To effect .the horizontal actuation of the head, oil under pressure maybe supplied to the pipe 316, thus supplying 7 pressure oil to the right end of the actuator cylinder; and simultaneously propelling: the oil fromtlieleft end thereof through the pipe 368; so as to cause the cylinder'and the rigidly connected entire head structure 220to be propelled tothe right. Similarly the introduction of pressure'oir through the pipe line'368 causes movement of the actuator cylinder to the left, the exhaust oilfrom the right end of the cylinder passing upwardlythrough *the pipe 310. As will be understood, the opposite ends of the cylinder may be closed by suitable end caps, for example asshown at 386,- Fig. 8, provided with packings for slidably receiving the piston-rod 348.

Magnet structure The magnet support plate-and magnet are best shown inFig. 7.

previously indicated, the magnet support plate 3H5 is supported atthe lowerends of the vertically disposed-'connecting rods 3| 2 and 314 which are provided at theirdower "ends with clamp nuts 392, by'meansof which the magnet support plate 3l6-is rigidly securedtothe lower ends of the rods. The magnet-support plate is provided with a plurality ofradially extending arms-394, four in'humber-in the particular embodiment shown. Each of these armshas welded to its outer enda pair'of'cup members-396 and 398 arranged with the arm to form a'series'of brackets for supporting'the magnet. Each of the four support brackets, and theirassociated parts, are preferably of duplicate construction. As showm'a'washerwfl is carried by each support bracket this washer having an upper spherically concave face for supporting the lower spherically'convexface of a pair of lock nuts 402 which arethreadedly fixed upon the reduced upper end of a' magnet support bolt 404. The washer 400 lies loosely within a recess or chamberdflfi formed at the upperend of the bracket, whereas a compression spring 408 is disposed within a lower smallerchamber in the bracket, the spring tending to urge the washer upwardly from its full line to its dotted line position, as seen in Fig. 7.

Each'support bolt lM'at its lower end is journalled upon a bolt or cap screw MU fixed into a pair of bosses H2 projecting upwardly from the upper-face of the magnet 218. I

The four compression springs 408 have insufiicientstrength to support the weight of the magnet '2I8, so that normally when-the magnet is hanging free the weight of the magnet causes the-springsto be compressed and the washers 00 to be in their lower seated position, as shown in full lines in Fig. '7. However, as the magnet is-being lowered toward" the table 214, and it engages-the tops of the cans, or if the magnet is being lowered into the retort basket and the cans carried thereby-engage the bottom-of the basket or a layer of cans previously deposited into the basket; as the downward movement of the magnet is thereby arrested the springs 408 act to continue the downward movement of the support plate'3l6' and the associated actuatorpiston 296, whereby to'cause the washers-I to be moved into the dotted line positions shown in Fig. '7.

The expansion of the springs, and the movementof the washers MIG into their raised or dotted line positions cause the magnet 218 and its support plate 3m to be moved relatively toward each other. This movement'is utilized to effect the actuation of a limit "switch which signifies the fact that the magnet has reached the desired downward -'extent of its travel, either upon en- 'ga'genient withthe' canson the table 2, when 8. the magnet is lowered in-its leftward or loading position-or as the cans carriedby the magnet engage the bottom-of the retort-basket, or a'previously loaded layer of cans, when the magnet is lowered in its'rightward or unloading position into the retort basket. More particularly, the center'of the support plate 3 I t is provided with an opening-within which is mounted a limit switch Ms supported by a flange plate-416, said switch carrying a pivoted switch arm M8 adapted to engage a central table surface 420 on themagnet body, to operate theswitch, when the magnet 2 I 8 and its support plate -3l6aremoved relatively toward each other. By this means it will be seen that, whereas the limit switch 320, Fig. 5, is operable invariably as the-magnet reaches a predetermined upper position, the limit switch M4, for limiting the downward movement of the magnet, isoperable at any desired lower level, as the weight of the magnet becomes supported by the objects'engaged. "By this means cans or articles of different size may-be automatically handled, without adjustment ofthe machine. Also, the lower limit switch is automatically operable as the' magnet reaches a proper position within the'retort basket, regardlessof. the number of canlayers which may have previously been-deposited therein.

The magnet body can assume a cocked or angular position, as shown in the dotted lines of Fig. 7, if necessary to properly engage the can surfaces or the. other objects to be raised; but regardless of precise angular position, the switch arm-M8 will be properly'actuated.

"For strengthening purposes, the magnet is pro- ViGEd'Wlbh a series of radial webs lM, F'igs.:2 and '7. As will be understood, the magnet is provided internally with a series of electromagnet coils, diagrammatically indicated at 42%,which upon-energization causethe cans to adhere to the magnet face.

Valve structure and hydraulic circuit The control valve 214 for the horizontal actuator 225 is illustrated in Fig. 9. The control valve ZHifor the vertical actuator 228 is illustrated in 10. The hydraulic diagram for the actuators is shown in"F-ig.'l3. The generarpiping'layout of the hydraulic circuits is also'shownin Fig."6.

As shown in Fig. 6, and aspreviously described, it will be seen that the oil reservoir comprising the chambers'258 and'ZtO, the pump 266 and its drive motor 216, the control valves '2'l4and216, the horizontal actuator 226, the vertical actuator 22$,"a'nd all intermediately disposed pipe connecti'ons 'andvalves are carried'as a part of the unitary head frame 220.

Referring to Fig513, oil is withdrawn from the reservoir258+260 by means of a pipe or "conduit 62tfto th'e pump 266. The pump may for example be'a gear pump, of theg'eneral type shown in the patent to Ernest J. Svenson No. 1,912,737, operable at constant speed, whenever itsdrive motor Z'all'is in operation, "to deliver a substan tially constantvolume of oil through its pressure outlet line'dtll. The conduit 439is connected to a conduit"432'leadingtoa relief valve 434,-and also to'a conduit lti leading to the control valve 214. The outlet of the relief valve 434 is connected' to a drain line E38 returning' to the reservoir. The-relief valve'434 may be of any suitable type, for exampleasshown in the copending application of Gustaf J. Peterson, Serial 'No." 551,408, filed-August 26, 1944; having a'spring'closed relief valve, the spring ",pre ssur'erbeingv adjustable, :by 

